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Horse-drawn carriages at the annual convention of the American Seed Trade Association, Rochester, New York, USA, June 11–13, 1901.[1] A wheelhorse (sense 1) is the horse nearest to the wheels of a carriage.

wheel +‎ horse. Sense 2 (“person who labors heavily for a cause”) is from the fact that a horse nearest to the wheels of a carriage that it is drawing does much of the pulling work.

The driver […] neither knew any thing, said any thing, or did any thing but watch a dozen equine ears, and keep six reins taut in his hands, and coax the off wheel[-]horse with the belly of his whip-lash every two minutes, invariably accompanying the stroke with a tremendous solitary cluck.

“Ay! he med well say that,” repeated the wagoner, still digesting the pleasure of Ben Lee’s compliment, and slapping the wheel[-]horse’s vast flank, so that the fairy chime began again, and the smack resounded like an accompaniment to its music.

In contrast to the methods used in New England all the lumber from the high Sierras is taken out in the summer instead of the winter. Teams of about seven pairs of horses, or mules, or traction engines, are used. Teams draw two or three wagons, and are managed by one driver who rides on a wheelhorse and guides with one rein, whip and voice.

The cannoneer posted nearest the left wheel of the limber engages the end of the pole of his carriage in the pole ring of the neck yoke and then hitches the near wheel horse; the cannoneer posted nearest the right wheel of the limber hitches the off wheel horse.

A medical journal, it seems to the writer, should be a medium for the propagation of useful knowledge, the instruction of the profession in the best and most scientific methods of fighting disease; and who is so well qualified for the work as the old wheelhorses, the men who have grown gray in the fight?

He was a wheelhorse, a tower of strength, to the Park Service and to the forces that were trying to establish new parks, seashores, canoe wildernesses, and other reservations during the Kennedy and Johnson years.

In 1830 a bold and vigorous attempt was made to utilize the wheel-horse. A French post-office official, M. Dreuze by name, brought forward an improvement on the old two-wheel velocipede, which bid fair to be successful. […] A number of the country letter-carriers were mounted on the wheel-horse, and whilst the roads continued dry and hard M. Dreuze could congratulate himself on the success of his invention; but with wet weather came bad roads, and to the wet succeeded frost and snow. A little extra labour was all that was required to overcome the extra friction of the bad roads, but the wheels refused to progress on the slippy frozen surface.

1869, Velox [pseudonym], “The Art of Velocipede Management”, in Velocipedes, Bicycles, and Tricycles: How to Make and How to Use Them. With a Sketch of their History, Invention, and Progress, London: George Routledge and Sons, The Broadway, Ludgate; New York, 416, Broome Street, OCLC79266561, page 77; reprinted in “Velocipedes. The Velocipede of the Day.”, in Edmund Routledge, editor, Routledge’s Every Boys Annual: An Entertaining Miscellany of Original Literature, London: George Routledge and Sons, The Broadway, Ludgate; New York, 416, Broome Street, 1870, OCLC30367601, page 414:

As in most other accomplishments, practice alone can make a skilful rider of velocipedes. The tyro can, however, profit by the experience of others, and I give a few rules for his guidance, as well as directions for his practice. The first point is to gain confidence in, and familiarity with, his wheel horse.